therapist用动作远程控制康复外骨骼，实时传递触觉反馈。
Unidirectional Human-Robot-Human Physical Interaction for Gait Training
- 医生穿传感器服，通过自身动作远程操控患者外骨骼。
- 采用高低频不同刚度的阻抗模型，适配不同康复阶段需求。
- 无需预设行走轨迹，适合个性化康复训练场景。
本文提出一种新型康复框架，使佩戴惯性测量单元（IMU）服的治疗师能虚拟交互于穿戴下肢外骨骼的运动障碍患者。该框架旨在融合治疗师的专业技能与外骨骼的能力。治疗师通过自身关节运动引导患者动作，并实时调整以满足患者需求，同时减轻治疗师体力负担。该方法无需预先设定患者需遵循的运动轨迹，突破传统机器人步态训练局限。为实现虚拟交互，提出一种低频刚度高、高频刚度低的阻抗特性，可按个体患者需求和康复阶段定制。该期望交互力矩由全外骨骼闭环补偿控制器执行。在一对健全人进行不同教师-学生步态训练实验中验证了该框架的有效性。结果表明，所提交互控制能有效传递触觉提示，为未来康复应用提供支持。
原文摘要 · Abstract (English)
This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims to harmonize the skills and knowledge of the therapist with the capabilities of the exoskeleton. The therapist can guide the patient's movements by moving their own joints and making real-time adjustments to meet the patient's needs, while reducing the physical effort of the therapist. This eliminates the need for a predefined trajectory for the patient to follow, as in conventional robotic gait training. For the virtual interaction medium between the therapist and patient, we propose an impedance profile that is stiff at low frequencies and less stiff at high frequencies, that can be tailored to individual patient needs and different stages of rehabilitation. The desired interaction torque from this medium is commanded to a whole-exoskeleton closed-loop compensation controller. The proposed virtual interaction framework was evaluated with a pair of unimpaired individuals in different teacher-student gait training exercises. Results show the proposed interaction control effectively transmits haptic cues, informing future applications in rehabilitation scenarios.
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